JP2008506545A - ２つのサブアセンブリ手段から構成される可動要素を移動させる手段を備えるパラレルロボット - Google Patents

２つのサブアセンブリ手段から構成される可動要素を移動させる手段を備えるパラレルロボット Download PDF

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Publication number
JP2008506545A
JP2008506545A JP2007521973A JP2007521973A JP2008506545A JP 2008506545 A JP2008506545 A JP 2008506545A JP 2007521973 A JP2007521973 A JP 2007521973A JP 2007521973 A JP2007521973 A JP 2007521973A JP 2008506545 A JP2008506545 A JP 2008506545A
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Japan
Prior art keywords
subassembly
robot
movable element
robot according
support
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JP2007521973A
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English (en)
Japanese (ja)
Inventor
アラケリャン，ヴィゲン
モーリン，パトリック
ブリオ，セバスティアン
ピオン，エマニュエル
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アンスティテュ・ナシオナル・デ・シャンス・アプリケ・ドゥ・レンヌ
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Publication of JP2008506545A publication Critical patent/JP2008506545A/ja
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
JP2007521973A 2004-07-22 2005-05-30 ２つのサブアセンブリ手段から構成される可動要素を移動させる手段を備えるパラレルロボット Pending JP2008506545A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0408151A FR2873317B1 (fr) 2004-07-22 2004-07-22 Robot parallele comprenant des moyens de mise en mouvement decomposees en deux sous-ensemble
PCT/FR2005/001326 WO2006021629A1 (fr) 2004-07-22 2005-05-30 Robot parallele comprenant des moyens de mise en mouvement d’un element mobile decomposes en deux sous-ensembles

Publications (1)

Publication Number Publication Date
JP2008506545A true JP2008506545A (ja) 2008-03-06

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ID=34947469

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2007521973A Pending JP2008506545A (ja) 2004-07-22 2005-05-30 ２つのサブアセンブリ手段から構成される可動要素を移動させる手段を備えるパラレルロボット

Country Status (10)

Country Link
US (1) US20080262653A1 (de)
EP (1) EP1786602B1 (de)
JP (1) JP2008506545A (de)
CN (1) CN101014450A (de)
AT (1) ATE401172T1 (de)
CA (1) CA2574788A1 (de)
DE (1) DE602005008260D1 (de)
ES (1) ES2311232T3 (de)
FR (1) FR2873317B1 (de)
WO (1) WO2006021629A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015000448A (ja) * 2013-06-14 2015-01-05 国立大学法人東京工業大学 回転中心の独立制御可能な回転パラレル機構

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CN100372657C (zh) * 2006-04-18 2008-03-05 燕山大学 三自由度6-ups三移动并联机器人
FR2921578B1 (fr) * 2007-09-28 2010-01-29 Sidel Participations Robot manipulateur pour palettiseur
DE102008001314A1 (de) * 2008-04-22 2009-10-29 Robert Bosch Gmbh Vorrichtung zum Bewegen und Positionieren eines Gegenstandes im Raum
FR2952579B1 (fr) * 2009-11-17 2013-05-17 Airbus Operations Sas Machine pour le drapage de pieces composites cylindriques
RU2455147C2 (ru) * 2010-02-25 2012-07-10 Российская академия наук Учреждение Российской академии наук Институт машиноведения им. А.А. Благонравова РАН Пространственный механизм с четырьмя степенями свободы и кинематической развязкой
RU2455146C2 (ru) * 2010-02-25 2012-07-10 Российская академия наук Учреждение Российской академии наук Институт машиноведения им. А.А. Благонравова РАН Пространственный механизм с четырьмя степенями свободы и кинематической развязкой
TWI391124B (zh) * 2010-05-12 2013-04-01 Univ Chang Gung 手術定位裝置
RU2466014C1 (ru) * 2011-05-19 2012-11-10 Государственное образовательное учреждение высшего профессионального образования "Московский государственный текстильный университет имени А.Н.Косыгина" Пространственный механизм с пятью степенями свободы
JP5475747B2 (ja) 2011-12-07 2014-04-16 Ｔｈｋ株式会社 パラレルリンクロボット
CN103286792B (zh) * 2013-03-26 2015-08-12 上海大学 具有调心机构的三自由度并联机器人手腕
US9198813B2 (en) * 2013-05-18 2015-12-01 Yuan Ze University Movement device having a stewart platform
RU2534706C1 (ru) * 2013-07-11 2014-12-10 федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский государственный университет дизайна и технологии" Пространственный механизм с четырьмя степенями свободы
CN103586862B (zh) * 2013-10-22 2015-08-26 上海交通大学 三支链六自由度机器人
CN104315095A (zh) * 2014-11-07 2015-01-28 重庆双狮摩托车制造有限公司 往复转动搅拌机传动总成
CN104942795B (zh) * 2015-07-02 2016-08-31 上海交通大学 一移动二转动三自由度转动移动完全解耦并联机构
CN104942829B (zh) * 2015-07-02 2017-04-19 上海交通大学 二移动三转动五自由度转动移动完全解耦并联机构
CN105269562A (zh) * 2015-11-16 2016-01-27 齐鲁工业大学 一种直线型并联机器人结构
CN105397800B (zh) * 2015-12-23 2017-04-05 北京工业大学 非对称两自由度移动多环耦合机构
CN105598948A (zh) * 2016-01-26 2016-05-25 江南大学 一种2r1t模块化混联机器人机构
CN108000508B (zh) * 2018-01-25 2024-01-26 西南石油大学 一种运动调节装置
CN109108949B (zh) * 2018-10-23 2021-07-23 西安工程大学 具有3t、2t1r和1t2r三种运动模式的并联机构
CN109333509B (zh) * 2018-11-08 2021-05-25 天津大学 一种球坐标型低耦合并联机构
CN110815180B (zh) * 2019-10-31 2023-05-26 武汉华中航空测控技术有限公司 六自由度并联机器人运动分析建模及快速求解方法
RU202578U1 (ru) * 2020-06-16 2021-02-25 Федеральное государственное бюджетное учреждение науки Институт машиноведения им. А.А. Благонравова Российской академии наук (ИМАШ РАН) Механический манипулятор рабочего органа с четырьмя степенями свободы
CN113001510B (zh) * 2021-02-07 2023-08-01 李振坤 一种二自由度平面平动并联机构

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US5156062A (en) * 1991-07-01 1992-10-20 Rockwell International Corporation Anti-rotation positioning mechanism
US5673595A (en) * 1995-05-19 1997-10-07 Canadian Space Agency Four degree-of-freedom manipulator
US5979264A (en) * 1997-03-13 1999-11-09 Ross-Hime Designs, Incorporated Robotic manipulator
US6038940A (en) * 1998-12-10 2000-03-21 Ross-Himes Designs, Incorporated Controlled robotic carrier
US6497548B1 (en) * 1999-08-05 2002-12-24 Shambhu Nath Roy Parallel kinematics mechanism with a concentric sperical joint
JP4632560B2 (ja) * 2000-03-01 2011-02-16 シーグ パック システムズ アクチェンゲゼルシャフト 三次元空間内で製品を操作するロボット
US6418811B1 (en) * 2000-05-26 2002-07-16 Ross-Hime Designs, Inc. Robotic manipulator
US6729202B2 (en) * 2001-05-31 2004-05-04 UNIVERSITé LAVAL Cartesian parallel manipulators
WO2004041486A1 (en) * 2002-11-06 2004-05-21 Mcgill University Four-degree-of-freedom parallel manipulator for producing schönflies motions
DE20303367U1 (de) * 2003-02-28 2003-07-24 Faude, Dieter, 71116 Gärtringen Roboter für Werkzeuge
SE525668C2 (sv) * 2003-10-02 2005-03-29 Parallel Kinematics Machines S Led till ett lagrat ställdon lagrat kring ett wobbelorgan
US7849762B2 (en) * 2007-12-19 2010-12-14 Robert J Viola Constrained tri-sphere kinematic positioning system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015000448A (ja) * 2013-06-14 2015-01-05 国立大学法人東京工業大学 回転中心の独立制御可能な回転パラレル機構

Also Published As

Publication number Publication date
EP1786602A1 (de) 2007-05-23
CN101014450A (zh) 2007-08-08
ES2311232T3 (es) 2009-02-01
US20080262653A1 (en) 2008-10-23
WO2006021629A1 (fr) 2006-03-02
EP1786602B1 (de) 2008-07-16
DE602005008260D1 (de) 2008-08-28
FR2873317B1 (fr) 2008-09-26
ATE401172T1 (de) 2008-08-15
CA2574788A1 (en) 2006-03-02
FR2873317A1 (fr) 2006-01-27

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